Steenbergen was a place of much fighting between the Spanish troops and the States. Until 1627, because from then on Fort Henricus in Steenbergen protected the harbor and the sluice. It was one of the largest forts in the Southwest of the Republic of the Netherlands. In 1809 the fort was put on standby for the last time by Napoleon, in connection with the possible British invasion of Zeeland. Shortly thereafter, Fort Henricus was demolished. Now you can see a historic panoramic view from the fort and take a lovely walk there.
More information can be found here.